多无人机（Unmanned Aerial Vehicle，UAV）协同目标跟踪在军/民用方面有

着广泛而又迫切的应用需求和重要的理论研究价值，是目前多 UAV 系统自主控制

领域的一个重要研究方向。本文以 UAV 执行对地侦察打击任务为应用背景，针对

复杂环境中多 UAV 协作式跟踪地面移动目标问题，重点围绕目标状态融合估计和

观测航迹优化两项关键内容展开研究-Multi-UAV (Unmanned Aerial Vehicle, UAV) has a broad and collaborative target tracking application needs urgent and important theoretical research value in the military/civilian, is the multi-UAV system with independent control area is an important research direction. In this paper, ground reconnaissance UAV to perform combat tasks as application background, moving target problem for the complex multi-UAV collaborative environment to track the ground, the focus on integration of the target state estimation and optimization of the two key elements of the observed track a study